@inproceedings{93da8082d33d4fc6b8b5bdfbd5a39c9b,
title = "Dynamic analysis and sliding mode control of a novel extendable modular multi-dofs link",
abstract = "In this paper, we have considered the new extendable modular multi-DOFs link to have a larger reachable workspace and more dexterous manipulability, as compared to a typical link. As a part of the extendable modular robot (EMR), our link is implemented to allow free motion when performing required tasks. In addition, this paper deals with a function of adjusting the link's length (within 25% of the nominal length). Our investigation also focuses on the dynamics of a multi-DOFs link and the nonlinear controller for a given trajectory. The simulation results show the effectiveness of this control approach.",
author = "Hak Yi and Yoo, {Je Hong} and Reza Langari",
year = "2012",
doi = "10.1115/IMECE2012-87983",
language = "English",
isbn = "9780791845202",
series = "ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)",
publisher = "American Society of Mechanical Engineers (ASME)",
number = "PARTS A AND B",
pages = "337--341",
booktitle = "Dynamics, Control and Uncertainty",
address = "United States",
edition = "PARTS A AND B",
note = "ASME 2012 International Mechanical Engineering Congress and Exposition, IMECE 2012 ; Conference date: 09-11-2012 Through 15-11-2012",
}